CN203077277U - Parallel-serial pose adjusting mechanism - Google Patents
Parallel-serial pose adjusting mechanism Download PDFInfo
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- CN203077277U CN203077277U CN 201320063944 CN201320063944U CN203077277U CN 203077277 U CN203077277 U CN 203077277U CN 201320063944 CN201320063944 CN 201320063944 CN 201320063944 U CN201320063944 U CN 201320063944U CN 203077277 U CN203077277 U CN 203077277U
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- series
- guiding mechanism
- parallel connection
- fixed pedestal
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Abstract
The utility model provides a parallel-serial pose adjusting mechanism which comprises a fixed base, a movable platform and a plurality of drive supporting chains, wherein the moving platform is arranged above the fixed base in parallel, the plurality of drive supporting chains are arranged between the fixed base and the movable platform and used for supporting the movable platform. The parallel-serial pose adjusting mechanism further comprises at least three adjusting bearing units which are fixed below the fixed base along the vertical direction, and the height of the adjusting bearing units can be adjusted. According to the parallel-serial pose adjusting mechanism, due to the fact that the adjusting bearing units with the adjustable height are arranged below the fixed base, pose adjustment of the fixed base is achieved, an application range and adjusting precision of parallel equipment are improved, meanwhile, due to the arrangement of the adjusting bearing units, the fixed base can be jacked up to a certain height, and other devices can be convenient to arrange below the fixed base.
Description
Technical field
The utility model relates to guiding mechanism field, lower-mobility space, in particular to a kind of series-parallel connection pose guiding mechanism.
Background technology
Space 4-UPU parallel institution is a kind of can the implementation space three-dimensional mechanism model that moves and rotate around the Z axle.This mechanism is a kind of parallel institution, has symmetrical configuration and simple relatively, advantage such as rigidity is big, is used for development of new workbench, parallel machine, four dimensional force sensor and micro-manipulating robot etc.
Compare with six-degree-of-freedom parallel robot, characteristics such as the lower-mobility parallel robot has simple in structure, and cost is low have wide application prospect in industrial production and other fields.But owing to there were phenomenons such as constraint and Degree-of-freedom Coupling in most of lower-mobility parallel institutions, so the kinematics analysis of this class parallel institution is complicated, the characteristics of motion is difficult to differentiation directly perceived.
The 4-UPU parallel institution is used for fields such as precision optical machinery engineering more, and aspects such as motion of mechanism positioning accuracy, response speed, flexibility are had higher requirements.But simultaneously parallel institution had constraint or Degree-of-freedom Coupling more, and motion resolves and drawback such as control program complexity, and its application is restricted in many cases.For existing 4-UPU parallel institution, the 4-UPU parallel institution all has only four-degree-of-freedom to adjust function in addition, can't satisfy initial six degree of freedom and adjust requirement, need set up servicing unit in addition.
The utility model content
The utility model aims to provide the series-parallel connection pose guiding mechanism that the initial pose of a kind of convenience is adjusted.
The utility model provides a kind of series-parallel connection pose guiding mechanism, comprise fixed pedestal and the moving platform that is set in parallel in the fixed pedestal top, and being arranged on a plurality of driving side chains that support with formation between fixed pedestal and the moving platform to moving platform, series-parallel connection pose guiding mechanism also comprises at least three the vertically Height Adjustable adjustment bearing units that are fixedly installed on the fixed pedestal below.
Further, adjust the leg that bearing unit comprises Height Adjustment portion and is arranged on Height Adjustment subordinate side.
Further, adjusting bearing unit is that hydraulic pressure is adjusted bearing unit, and Height Adjustment portion is a hydraulic jack, and hydraulic jack comprises cylinder body and piston rod, and leg is connected with the piston rod end.
Further, fixed pedestal is provided with the oil cylinder installing hole that vertically extends, and hydraulic jack wears and be fixed in the oil cylinder installing hole and piston rod is provided with straight down.
Further, the cylinder body of hydraulic jack is provided with ring flange, and ring flange is connected with the upper surface bolt of fixed pedestal.
Further, have screw thread on the piston rod, and be provided with the self-locking nut with threaded engagement.
Further, it is identical with the number that drives side chain to adjust bearing unit, and the lower end of driving side chain is connected with the upper end of adjusting bearing unit.
Further, the fixed pedestal bottom also is provided with load-carrying movement equipment.
Further, driving side chain is four, and each drives side chain and comprises two universal hinges and be arranged on two straight line moving sets between the universal hinge.
Further, universal hinge comprises and fixedly connected ears plate of straight line moving sets and the bearing pin that is threaded that is arranged on the contiguous block between the ears plate and cooperates with contiguous block; The ears plate is rotatably connected by horizontal connecting axle mutually with contiguous block; The bearing pin that is threaded comprises the threaded portion and the middle bearing pin portion at two ends, and contiguous block is provided with the pin shaft hole that vertically extends, and the bearing pin portion of the bearing pin that is threaded is arranged in the pin shaft hole rotationally.
Further, the straight line moving sets is feed screw nut's transmission nut transmission, oil cylinder, cylinder or electric pushrod.
According to series-parallel connection pose guiding mechanism of the present utility model, by Height Adjustable adjustment bearing unit is set below fixed pedestal, thereby realize the pose adjustment of fixed pedestal, improve the range of application of equipment in parallel and adjusted precision, and the adjustment bearing unit is set, can be with fixed pedestal jack-up certain height, convenient other equipment that below fixed pedestal, are provided with.
Description of drawings
The accompanying drawing that constitutes the application's a part is used to provide further understanding of the present utility model, and illustrative examples of the present utility model and explanation thereof are used to explain the utility model, do not constitute improper qualification of the present utility model.In the accompanying drawings:
Fig. 1 is the perspective view according to series-parallel connection pose guiding mechanism of the present utility model;
Fig. 2 is the perspective view according to the fixed pedestal of series-parallel connection pose guiding mechanism of the present utility model;
Fig. 3 is the perspective view according to the adjustment bearing unit of series-parallel connection pose guiding mechanism of the present utility model;
Fig. 4 is the adjustment bearing unit and the perspective view that drives after side chain is connected according to series-parallel connection pose guiding mechanism of the present utility model;
Fig. 5 is the perspective view according to the driving side chain of series-parallel connection pose guiding mechanism of the present utility model; And
Fig. 6 is the local structure for amplifying schematic diagram according to the driving side chain of series-parallel connection pose guiding mechanism of the present utility model.
The specific embodiment
Describe the utility model below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
As depicted in figs. 1 and 2, according to series-parallel connection pose guiding mechanism of the present utility model, comprise fixed pedestal 10 and the moving platform 20 that is set in parallel in fixed pedestal 10 tops, and being arranged on a plurality of driving side chains 30 that support with 20 formation between fixed pedestal 10 and the moving platform 20 to moving platform, series-parallel connection pose guiding mechanism also comprises at least three the vertically Height Adjustable adjustment bearing units 40 that are fixedly installed on fixed pedestal 10 belows.The utility model is by being provided with Height Adjustable adjustment bearing unit 40 below fixed pedestal 10, thereby realize the pose adjustment of fixed pedestal 10, improve the range of application of parallel institution and adjusted precision, and be provided with and adjust bearing unit 40, can be with fixed pedestal 10 jack-up certain height, convenient other equipment that below fixed pedestal 10, is provided with.Usually, also be provided with levelness and detect and feedback device, be used with adjusting bearing unit 40, more quick adjustment fixed pedestal 10 is the level of state.
Particularly, as shown in Figure 3 and Figure 4, adjust the leg 42 that bearing unit 40 comprises Height Adjustment portion and is arranged on Height Adjustment subordinate side.Height Adjustment portion and leg 42 flexibly connect, thereby leg 42 can reliably be contacted with ground.Preferably, adjust bearing unit 40 and adjust bearing unit for hydraulic pressure, promptly Height Adjustment portion is a hydraulic jack 41, also can adopt other governor motions such as leading screw.
In conjunction with illustrated in figures 1 and 2, it is four that hydraulic pressure is adjusted bearing unit, along the circumferential distribution of fixed pedestal 10.Hydraulic jack 41 comprises cylinder body and piston rod, leg 42 is a structural member, contacts by the piston rod head of arc sphere with hydraulic jack 41, utilizes bearing pin to be suspended in piston-rod lower end, guarantee that under the situation of ground inclination leg 42 can contact with ground reliably.
As depicted in figs. 1 and 2, fixed pedestal 10 is provided with the oil cylinder installing hole that vertically extends, and hydraulic jack 41 wears and is fixed in the oil cylinder installing hole, and piston rod is provided with straight down, thereby to fixed pedestal 10 horizontal supportings and adjustment.Particularly, the cylinder body of hydraulic jack 41 is provided with ring flange 41a, and ring flange 41a is connected with the upper surface bolt of fixed pedestal 10.By adopting the oil cylinder installing hole to fix hydraulic jack 41, make hydraulic jack 41 fixing more reliable, when servo-actuated lifting platform 70 relative fixed pedestals 10 tilted, hydraulic jack 41 can bear bigger lateral force especially.
Preferably, as shown in Figure 3 and Figure 4, has the part screw thread on the piston rod, and be provided with self-locking nut 41b with threaded engagement, when needs support for a long time, by self-locking nut 41b to hydraulic jack 41 manual lockings, thereby play the effect of mechanical position limitation, improve the security of hydraulic jack 41.
Hydraulic pressure is adjusted the vertical adjustment capability that bearing unit has increased whole device, also makes things convenient for simultaneously and installs or set up other gadgets and load transportation equipment.As shown in Figure 2,, adjust bearing unit with fixed pedestal 10 jacking certain height, 4 load-carrying movement equipment 11 are installed then, in fixed pedestal 10 bottoms so that the short distance load-carrying movement of the equipment of realization by hydraulic pressure when the needs movable type.The traction power of weight movement can utilize friction pulley driving, hydraulic jack, hoist engine or chain block to realize, fixed pedestal is provided with towing point simultaneously.Fixed pedestal of the present utility model adopts split type structure splicing construction, is convenient to realize the special equipment assembly unit is handled.
Preferably, as shown in Figure 4, and in conjunction with Fig. 1, the number of adjusting bearing unit 40 is identical with the number that drives side chain 30, and the lower end that drives side chain 30 is connected with the upper end of hydraulic jack 41, promptly drive the support force that side chain 30 bears and act directly on the hydraulic jack 41, make fixed pedestal 10 bear small shearing force and moment of flexure, improve the reliability of whole device.
As shown in Figure 5 and Figure 6, and in conjunction with Fig. 1, driving side chain 30 is four, each drives side chain 30 and comprises two universal hinges 31 and be arranged on two straight line moving sets 32 between the universal hinge 31, promptly four drive side chain 30 formation 4-UPU parallel institutions, moving platform 20 are adjusted, for the concrete operation principle and the control procedure of 4-UPU parallel institution, comparatively ripe research has been arranged in the prior art, be not described in detail at this.The universal hinge 31 that drives side chain 30 upper ends is connected with moving platform 20, and the universal hinge 31 of lower end is connected with the upper end of hydraulic jack 41.
As shown in Figure 6, universal hinge 31 comprises and fixedly connected ears plate 31a of straight line moving sets 32 and the bearing pin 31c that is threaded that is arranged on the contiguous block 31b between the ears plate 31a and cooperates with contiguous block 31b; Ears plate 31a is rotatably connected by horizontal connecting axle mutually with contiguous block 31b; The bearing pin 31c that is threaded comprises the threaded portion and the middle bearing pin portion at two ends, and contiguous block 31b is provided with the pin shaft hole that vertically extends, and the bearing pin portion of the bearing pin 31c that is threaded is arranged in the pin shaft hole rotationally.The be threaded threaded portion of bearing pin 31c one end is threaded with hydraulic jack 41 upper ends, then contiguous block 31b is arranged on bearing pin portion, and the nut of screwing on the threaded portion of the other end, makes the relative pin shaft hole of bearing pin portion rotatable.
Straight line moving sets 32 is the drive unit of 4-UPU mechanism, by straight line moving sets 32 length variations, realizes that the four-degree-of-freedom pose of moving platform 20 is adjusted, the promptly three-dimensional rotational freedom that reaches around the z axle that moves.Straight line moving sets 32 forms can constitute for feed screw nut's transmission nut transmission, oil, cylinder and electric pushrod or other any form, mobile unit with certain bearing value.
As can be seen from the above description, the utility model the above embodiments have realized following technique effect:
According to series-parallel connection pose guiding mechanism of the present utility model, by Height Adjustable adjustment bearing unit is set below fixed pedestal, thereby realize the pose adjustment of fixed pedestal, improve the range of application of equipment in parallel and adjusted precision, and the adjustment bearing unit is set, can be with fixed pedestal jack-up certain height, convenient other equipment that below fixed pedestal, are provided with.
The above is a preferred embodiment of the present utility model only, is not limited to the utility model, and for a person skilled in the art, the utility model can have various changes and variation.All within spirit of the present utility model and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (11)
1. series-parallel connection pose guiding mechanism, comprise fixed pedestal (10) and be set in parallel in the moving platform (20) of described fixed pedestal (10) top, and be arranged between described fixed pedestal (10) and the described moving platform (20) described moving platform (20) is formed a plurality of driving side chains (30) of supporting, it is characterized in that
Described series-parallel connection pose guiding mechanism also comprises at least three the vertically Height Adjustable adjustment bearing units (40) that are fixedly installed on described fixed pedestal (10) below.
2. series-parallel connection pose guiding mechanism according to claim 1 is characterized in that,
Described adjustment bearing unit (40) comprises Height Adjustment portion and is arranged on the leg (42) of described Height Adjustment subordinate side.
3. series-parallel connection pose guiding mechanism according to claim 2 is characterized in that,
Described adjustment bearing unit (40) is that hydraulic pressure adjusts bearing unit, and described Height Adjustment portion is hydraulic jack (41), and described hydraulic jack (41) comprises cylinder body and piston rod, and described leg (42) is connected with described piston rod end.
4. series-parallel connection pose guiding mechanism according to claim 3 is characterized in that,
Described fixed pedestal (10) is provided with the oil cylinder installing hole that vertically extends, and described hydraulic jack (41) wears and be fixed in the described oil cylinder installing hole and described piston rod is provided with straight down.
5. series-parallel connection pose guiding mechanism according to claim 4 is characterized in that,
The cylinder body of described hydraulic jack (41) is provided with ring flange (41a), and described ring flange (41a) is connected with the upper surface bolt of described fixed pedestal (10).
6. according to each described series-parallel connection pose guiding mechanism in the claim 3 to 5, it is characterized in that,
Have screw thread on the described piston rod, and be provided with the self-locking nut (41b) with described threaded engagement.
7. according to each described series-parallel connection pose guiding mechanism in the claim 1 to 5, it is characterized in that,
Described adjustment bearing unit (40) is identical with the number of described driving side chain (30), and the lower end of described driving side chain (30) is connected with the upper end of described adjustment bearing unit (40).
8. according to each described series-parallel connection pose guiding mechanism in the claim 1 to 5, it is characterized in that,
Described fixed pedestal (10) bottom also is provided with load-carrying movement equipment (11).
9. according to each described series-parallel connection pose guiding mechanism in the claim 1 to 5, it is characterized in that,
Described driving side chain (30) is four, and each described driving side chain (30) comprises two universal hinges (31) and is arranged on straight line moving sets (32) between described two universal hinges (31).
10. series-parallel connection pose guiding mechanism according to claim 9 is characterized in that,
Described universal hinge (31) comprises and fixedly connected ears plate (31a) of described straight line moving sets (32) and the bearing pin that is threaded (31c) that is arranged on the contiguous block (31b) between the described ears plate (31a) and cooperates with described contiguous block (31b);
Described ears plate (31a) is rotatably connected by horizontal connecting axle mutually with described contiguous block (31b);
The described bearing pin that is threaded (31c) comprises the threaded portion and the middle bearing pin portion at two ends, described contiguous block (31b) is provided with the pin shaft hole that vertically extends, and the bearing pin portion of the described bearing pin that is threaded (31c) is arranged in the described pin shaft hole rotationally.
11. series-parallel connection pose guiding mechanism according to claim 9 is characterized in that,
Described straight line moving sets (32) is feed screw nut's transmission, oil cylinder, cylinder or electric pushrod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320063944 CN203077277U (en) | 2013-02-04 | 2013-02-04 | Parallel-serial pose adjusting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320063944 CN203077277U (en) | 2013-02-04 | 2013-02-04 | Parallel-serial pose adjusting mechanism |
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| Publication Number | Publication Date |
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| CN203077277U true CN203077277U (en) | 2013-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320063944 Expired - Lifetime CN203077277U (en) | 2013-02-04 | 2013-02-04 | Parallel-serial pose adjusting mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624535A (en) * | 2013-11-11 | 2014-03-12 | 北京卫星环境工程研究所 | Precise adjustment device for pose of spacecraft |
| CN103934823A (en) * | 2014-04-28 | 2014-07-23 | 哈尔滨工程大学 | Six-PTRT type parallel robot with self-calibration function |
| CN105538263A (en) * | 2016-02-19 | 2016-05-04 | 巢湖学院 | Precise horizontal adjustment device |
| CN106002953A (en) * | 2016-07-06 | 2016-10-12 | 徐子桐 | Parallel connection manipulator for concrete road water absorption equipment |
| CN106037357A (en) * | 2016-05-16 | 2016-10-26 | 安庆米锐智能科技有限公司 | Electric automobile part display device |
| CN113374226A (en) * | 2020-02-25 | 2021-09-10 | 广东博智林机器人有限公司 | Leveling device and leveling robot |
-
2013
- 2013-02-04 CN CN 201320063944 patent/CN203077277U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624535A (en) * | 2013-11-11 | 2014-03-12 | 北京卫星环境工程研究所 | Precise adjustment device for pose of spacecraft |
| CN103934823A (en) * | 2014-04-28 | 2014-07-23 | 哈尔滨工程大学 | Six-PTRT type parallel robot with self-calibration function |
| CN103934823B (en) * | 2014-04-28 | 2015-09-30 | 哈尔滨工程大学 | A kind of 6-PTRT type parallel robot with self calibrating function |
| CN105538263A (en) * | 2016-02-19 | 2016-05-04 | 巢湖学院 | Precise horizontal adjustment device |
| CN106037357A (en) * | 2016-05-16 | 2016-10-26 | 安庆米锐智能科技有限公司 | Electric automobile part display device |
| CN106002953A (en) * | 2016-07-06 | 2016-10-12 | 徐子桐 | Parallel connection manipulator for concrete road water absorption equipment |
| CN106002953B (en) * | 2016-07-06 | 2018-05-15 | 哈工大机器人集团（广州）知识产权投资控股有限公司 | A kind of parallel manipulator for concrete road water absorption device |
| CN113374226A (en) * | 2020-02-25 | 2021-09-10 | 广东博智林机器人有限公司 | Leveling device and leveling robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130724 |